CN107527366A - A kind of camera tracking towards depth camera - Google Patents
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Abstract
The invention discloses a kind of camera tracking towards depth camera, it is whether obvious according to the characteristic point of gray level image, select the camera tracing mode of view-based access control model information and the camera tracing mode based on depth information, structure is on photo measure error and the joint objective function of depth value false drop in the camera tracing mode of view-based access control model information, and component is on there is the object function of symbolic measurement model in the camera tracing mode based on depth information.The present invention is switched by double mode, is enhanced the applicability of system, is improved the stability of system.
Description
Technical field
The invention belongs to intelligent perception technology field, a kind of more particularly to camera tracking towards depth camera.
Background technology
The motion of camera is tracked to construct visual odometry using depth camera, is Visual SLAM
The method to be become more and more popular in (Simultaneous Localization and Mapping) technology.Accurate camera pose
Estimation, is the basis of environmental modeling, and research object important in Visual SLAM.Tracking for camera motion, typically
Conventional method is all extraction and matches discrete sparse visual signature, then recycles re-projection error to construct target letter
Number, then the minimum value of object function is solved so as to estimate the pose of camera.The validity of such method depends on the degree of accuracy
The key point of characteristics of image and description；During feature extraction, larger computing resource can be expended.
Chinese patent application (publication number 106556412A), which discloses, " considers the RGB- of surface constraints under a kind of indoor environment
D visual odometries method ".This method goes out spatial point cloud using RGB-D color depth information structurings, then extracts the ORB of cromogram
Invariable rotary visual signature, so as to construct the point set of enhancing.So assuming that on the premise of camera constant speed motion model, pass through
The plane information on ground, and the height of camera and pitching angle information, can pre-estimate out the possibility of plane in the next frame
Position, in this, as initial value, to match the point set of alignment enhancing, it is possible to relatively accurately estimate that the relative pose of camera becomes
Change.In the case of feature angle point included in visual signature missing or visual information is fewer, this method is just easier
Limited to.
Chinese patent application (application number：201610219378) a kind of " vision of fusion RGB and Depth information is disclosed
Odometer implementation method ".This method extracts characteristic point first, and rough is carried out by stochastical sampling uniformity (RANSAC)
Match somebody with somebody.Then, it is then down-sampled by being carried out to a cloud, and the matching that iterative closest point approach (ICP) progress is fine.Due to using
Visual signature point, again such that for not obvious enough the situation of characteristic point, this method has very big limitation.
Chinese patent application (publication number：105045263A) disclose a kind of " robot self-localization side based on Kinect
Method ".The method matched similar to planar laser radar with environmental model, this method extract the terrain surface specifications in a cloud first,
Then three-dimensional point cloud is projected on two-dimentional ground, then the projection on ground is matched with environment Raster Data Model, so as to estimate
Calculate the interframe relative motion of camera.Because construction has got well the planar grid map of environment as reference to be matched in advance, count
It is relatively accurate to calculate result.But due to dependent on existing environmental model so that the scope of application compares limitation, is not suitable with
The occasion of circumstances not known model carries out online motion tracking.
As fully visible, the method for view-based access control model characteristic point compares dependent on the feature-rich point information in environment so that suitable
It is severely limited with scope.
The content of the invention
In order to solve the technical problem that above-mentioned background technology proposes, the present invention is intended to provide a kind of phase towards depth camera
Machine tracking, different processing modes is selected according to the change of the shade of gray of image, enhances applicability.
In order to realize above-mentioned technical purpose, the technical scheme is that：
A kind of camera tracking towards depth camera, comprise the following steps：
(1) pose of depth camera is initialized；
(2) coloured image that depth camera obtains is converted into gray level image；
(3) extract pixel of the change of shade of gray in gray level image more than given threshold a, using these pixels as
Shade of gray changes obvious pixel；
(4) if shade of gray changes obvious pixel number and is more than given threshold b, for the obvious picture of shade of gray
Vegetarian refreshments, photo measure error function and depth value error function are constructed, and joint mesh is constructed using two norms of the two functions
Scalar functions, the change of optimization joint objective function estimation camera pose, obtain the camera pose at current time；If shade of gray becomes
Change obvious pixel number and be not more than given threshold b, then into step (5)；
(5) symbolic measurement model has been constructed using the depth map data at current time, so as to quantify space body
The distance of plain grid and the body surface perceived, by there is symbolic measurement Construction of A Model object function, by optimizing mesh
Scalar functions obtain the camera pose at current time.
Further, in step (4), the photo measure error function is shown below：
In above formula, E1(x) photo measure error function is represented, x represents the pixel coordinate on imaging plane, In(x) n-th is represented
The gray value of pixel in two field picture, π () represent re-projection function, π-1() represents the inverse function of re-projection, Tn,n-1Represent
The increment change of camera pose, Tn-1The camera pose of last moment is represented, i represents all obvious pixels of shade of gray
Index.
Further, in step (4), the depth value error function is shown below：
Ez(x)=[Tn,n-1·Tn-1·π-1(x)]z-Zn(π(Tn,n-1·Tn-1·π-1(x)))
In above formula, Ez(x) depth value error function, Z are representedn() is represented associated by the obvious pixel of shade of gray
The depth value of spatial point, []zExpression takes the component in z directions.
Further, in step (4), the joint objective function is shown below：
In above formula, E (x) represents joint objective function, and subscript T represents transposition；
By solving E (x) minimum value, T is obtainedn,n-1, further according to Tn,n-1Obtain the camera pose T at current timen：Tn=
Tn,n-1·Tn-1。
Further, in step (5), described have the symbolic measurement model to be, the three-dimensional table being perceived for object
Face, the numerical value for having symbolic measurement are zero；In the front in the outside on the perception surface, i.e. object, there is the symbolic measurement to be
On the occasion of, and its numerical values recited is directlyed proportional to the point to perceiving the distance on surface；In the inner side on the perception surface, i.e., after object
Side, it is negative value to have symbolic measurement, and its numerical values recited is directlyed proportional to the point to perceiving the distance on surface.
Further, step (5) comprise the following steps that：
(501) it is built with symbolic measurement model using current depth diagram data；
(502) it is relative between two frames before and after being obtained by inertial navigation sensor when next frame depth map data arrives
Pose changes, and the predicted value of current time camera pose is calculated according to following formula：
ETn=ETn,n-1·Tn-1
In above formula, ETnFor the predicted value of current time camera pose, ETn,n-1Relative pose between front and rear two frame becomes
Change, Tn-1For last moment camera pose；
(503) coordinate value of the spatial point for being perceived present frame in camera coordinates system is transformed into world coordinate system：
Pw=RPc+t
In above formula, PwThe coordinate value for being spatial point in world coordinate system, PcThe coordinate for being spatial point in camera coordinates system
Value, R is spin matrix, and t is the predicted value ET of translation vector, R and t according to current time camera posenObtain,
(504) object function is constructed：
In above formula, E is object function, SDF2(Pw) represent point PwThere is square of symbolic measurement at place, and i represents present frame
The index of all pixels point in image；
(505) by ETnAs the initial value for solving object function, adjusted near initial value, obtain the minimum value of object function,
Then solution corresponding to the minimum value is the camera pose T at current timen。
The beneficial effect brought using above-mentioned technical proposal：
The present invention need not extract the feature of coloured image, on the contrary, being changed greatly only for shade of gray in gray-scale map
Pixel handled, so greatly reduce amount of calculation, for the unconspicuous situation of shade of gray, be switched to direct use
Depth map carries out the pattern of " point cloud and Model Matching ", therefore unrestricted in the situation for having illumination, even in no light situation
Under, the method based on depth map can still play a role.
Brief description of the drawings
Fig. 1 is flow chart of the method for the present invention.
Embodiment
Below with reference to accompanying drawing, technical scheme is described in detail.
A kind of camera tracking towards depth camera, as shown in figure 1, comprising the following steps that.
Step 1：Initialize the pose of depth camera.
Step 2：The coloured image that depth camera obtains is converted into gray level image.
Step 3：Pixel of the shade of gray change more than given threshold a in gray level image is extracted, by these pixels
Change obvious pixel as shade of gray.
Step 4：If shade of gray changes obvious pixel number more than given threshold b, obvious for shade of gray
Pixel, construct photo measure error function and depth value error function, and connection is constructed using two norms of the two functions
Object function is closed, the change of optimization joint objective function estimation camera pose, obtains the camera pose at current time；If gray scale is terraced
Degree changes obvious pixel number and is not more than given threshold b (such as imaging circumstances are dark or imaging object is solid color regions),
Then enter step 5.
The photo measure error function is shown below：
In above formula, E1(x) photo measure error function is represented, x represents the pixel coordinate on imaging plane, In(x) n-th is represented
The gray value of pixel in two field picture, π () represent re-projection function, π-1() represents the inverse function of re-projection, Tn,n-1Represent
The increment change of camera pose, Tn-1The camera pose of last moment is represented, i represents all obvious pixels of shade of gray
Index.
For spatial point [xc,yc,zc]TAnd the pixel [u, v] on corresponding imaging planeT, the focal length of camera
[fx,fy]T, the photocentre [c of imaging planex,cy]T, then re-projection function is as follows：
The inverse function of re-projection function is as follows：
In above formula, d is the depth value of pixel, and s is zoom factor.
The depth value error function is shown below：
Ez(x)=[Tn,n-1·Tn-1·π-1(x)]z-Zn(π(Tn,n-1·Tn-1·π-1(x)))
In above formula, Ez(x) depth value error function, Z are representedn() is represented associated by the obvious pixel of shade of gray
The depth value of spatial point, []zExpression takes the component in z directions.
The joint objective function is shown below：
In above formula, E (x) represents joint objective function, and subscript T represents transposition.
By solving E (x) minimum value, T is obtainedn,n-1, further according to Tn,n-1Obtain the camera pose T at current timen：Tn=
Tn,n-1·Tn-1。
Step 5：Symbolic measurement model is constructed using the depth map data at current time, so as to quantify space
The distance of voxel grid and the body surface perceived, by there is symbolic measurement Construction of A Model object function, passes through optimization
Object function obtains the camera pose at current time.
It is described that to have symbolic measurement (Signed Distance Function, SDF) model be to be perceived for object
Three-dimensional surface, the numerical value for having symbolic measurement is zero；In the front in the outside on the perception surface, i.e. object, have symbol away from
It is on the occasion of and its numerical values recited and the point are directlyed proportional to the distance on perception surface from function；In the inner side on the perception surface, i.e. thing
The rear of body, it is negative value to have symbolic measurement, and its numerical values recited is directlyed proportional to the point to perceiving the distance on surface.
Step 5 comprises the following steps that：
(1) it is built with symbolic measurement model using current depth diagram data；
(2) when next frame depth map data arrives, the relative position before and after being obtained by inertial navigation sensor between two frames
Appearance changes, and the predicted value of current time camera pose is calculated according to following formula：
ETn=ETn,n-1·Tn-1
In above formula, ETnFor the predicted value of current time camera pose, ETn,n-1Relative pose between front and rear two frame becomes
Change, Tn-1For last moment camera pose；
(3) coordinate value of the spatial point for being perceived present frame in camera coordinates system is transformed into world coordinate system：
Pw=RPc+t
In above formula, PwThe coordinate value for being spatial point in world coordinate system, PcThe coordinate value for being spatial point in camera coordinates system,
R is spin matrix, and t is the predicted value ET of translation vector, R and t according to current time camera posenObtain,
(4) object function is constructed：
In above formula, E is object function, SDF2(Pw) represent point PwThere is square of symbolic measurement at place, and i represents present frame
The index of all pixels point in image；
(5) by ETnAs the initial value for solving object function, adjusted near initial value, obtain the minimum value of object function, then
Solution corresponding to the minimum value is the camera pose T at current timen。
The technological thought of embodiment only to illustrate the invention, it is impossible to protection scope of the present invention is limited with this, it is every according to
Technological thought proposed by the present invention, any change done on the basis of technical scheme, each falls within the scope of the present invention.
Claims (6)
1. a kind of camera tracking towards depth camera, it is characterised in that comprise the following steps：
(1) pose of depth camera is initialized；
(2) coloured image that depth camera obtains is converted into gray level image；
(3) pixel of the shade of gray change more than given threshold a in gray level image is extracted, using these pixels as gray scale
The obvious pixel of graded；
(4) if shade of gray changes obvious pixel number and is more than given threshold b, for the obvious pixel of shade of gray
Point, photo measure error function and depth value error function are constructed, and joint objective is constructed using two norms of the two functions
Function, the change of optimization joint objective function estimation camera pose, obtains the camera pose at current time；If shade of gray changes
Obvious pixel number is not more than given threshold b, then into step (5)；
(5) symbolic measurement model has been constructed using the depth map data at current time, so as to quantify spatial voxel net
The distance of lattice and the body surface perceived, by there is symbolic measurement Construction of A Model object function, passes through optimization aim letter
Number obtains the camera pose at current time.
2. according to claim 1 towards the camera tracking of depth camera, it is characterised in that：It is described in step (4)
Photo measure error function is shown below：
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In above formula, E1(x) photo measure error function is represented, x represents the pixel coordinate on imaging plane, In(x) n-th frame figure is represented
The gray value of pixel as in, π () represent re-projection function, π-1() represents the inverse function of re-projection, Tn,n-1Represent camera
The increment change of pose, Tn-1The camera pose of last moment is represented, i represents the index of all obvious pixels of shade of gray.
3. according to claim 2 towards the camera tracking of depth camera, it is characterised in that：It is described in step (4)
Depth value error function is shown below：
Ez(x)=[Tn,n-1·Tn-1·π-1(x)]z-Zn(π(Tn,n-1·Tn-1·π-1(x)))
In above formula, Ez(x) depth value error function, Z are representedn() represents the space associated by the obvious pixel of shade of gray
The depth value of point, []zExpression takes the component in z directions.
4. according to claim 2 towards the camera tracking of depth camera, it is characterised in that：It is described in step (4)
Joint objective function is shown below：
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In above formula, E (x) represents joint objective function, and subscript T represents transposition；
By solving E (x) minimum value, T is obtainedn,n-1, further according to Tn,n-1Obtain the camera pose T at current timen：Tn=
Tn,n-1·Tn-1。
5. according to claim 1 towards the camera tracking of depth camera, it is characterised in that：It is described in step (5)
It is that the three-dimensional surface being perceived for object, the numerical value for having symbolic measurement is zero to have symbolic measurement model；In the sense
Know the front in the outside on surface, i.e. object, it is on the occasion of and its numerical values recited and the point are with perceiving surface to have symbolic measurement
Apart from directly proportional；At the rear of the inner side on the perception surface, i.e. object, it is negative value to have symbolic measurement, and its numerical values recited
Directlyed proportional to the point to perceiving the distance on surface.
6. according to claim 5 towards the camera tracking of depth camera, it is characterised in that：The specific step of step (5)
It is rapid as follows：
(501) it is built with symbolic measurement model using current depth diagram data；
(502) when next frame depth map data arrives, the relative pose before and after being obtained by inertial navigation sensor between two frames
Change, the predicted value of current time camera pose is calculated according to following formula：
ETn=ETn,n-1·Tn-1
In above formula, ETnFor the predicted value of current time camera pose, ETn,n-1Relative pose change between front and rear two frame,
Tn-1For last moment camera pose；
(503) coordinate value of the spatial point for being perceived present frame in camera coordinates system is transformed into world coordinate system：
Pw=RPc+t
In above formula, PwThe coordinate value for being spatial point in world coordinate system, PcThe coordinate value for being spatial point in camera coordinates system, R
For spin matrix, t is the predicted value ET of translation vector, R and t according to current time camera posenObtain,
(504) object function is constructed：
<mrow>
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</msup>
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<mi>P</mi>
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</mrow>
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In above formula, E is object function, SDF2(Pw) represent point PwThere is square of symbolic measurement at place, and i represents current frame image
The index of middle all pixels point；
(505) by ETnAs the initial value for solving object function, adjusted near initial value, obtain the minimum value of object function, then should
Solution corresponding to minimum value is the camera pose T at current timen。
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| CN110059651A (en) * | 2019-04-24 | 2019-07-26 | 北京计算机技术及应用研究所 | A kind of camera real-time tracking register method |
| CN110375765A (en) * | 2019-06-28 | 2019-10-25 | 上海交通大学 | Visual odometry method, system and storage medium based on direct method |
| CN110657803A (en) * | 2018-06-28 | 2020-01-07 | 深圳市优必选科技有限公司 | Robot positioning method, device and storage device |
| CN110926334A (en) * | 2019-11-29 | 2020-03-27 | 深圳市商汤科技有限公司 | Measuring method, measuring device, electronic device and storage medium |
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| CN109947886B (en) * | 2019-03-19 | 2023-01-10 | 腾讯科技（深圳）有限公司 | Image processing method, image processing device, electronic equipment and storage medium |
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| CN110926334A (en) * | 2019-11-29 | 2020-03-27 | 深圳市商汤科技有限公司 | Measuring method, measuring device, electronic device and storage medium |
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